TY - GEN
T1 - A Novel Compact Underactuated Tendon-Driven Mechanism with Shape Memory Alloys
AU - Ishibashi, Keitaro
AU - Ishii, Hiroyuki
N1 - Funding Information:
*Research supported by JST, Casio Science Promotion Foundation, Waseda University Grant for Special Research Projects (Project number: 2018B-155, and 2020C-246), and JSPS KAKENHI (Grant Numbers: 15K00366, 17H00767, and 19H01130).
Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - An underactuated mechanism, which has less input than the active degree of freedom, is often used for grippers such as robot hands. The use of this mechanism can contribute to the reduction of actuators, that is, the reduction in size and weight. However, many of the conventional underactuated mechanisms are equipped with ordinary springs at the joints and are driven by a motor and they tend to be bigger and bulkier. Therefore, we have developed a compact underactuated tendon-driven mechanism using a lightweight shape memory alloy (SMA) actuator and a superelastic SMA sheet with an elastic range that cannot be achieved by conventional metal leaf springs. It has a range of motion of over 140 deg and can lift a weight of 60 g by energizing the SMA actuator. Using the shape memory effect and the superelastic effect of SMA, it is possible to exert a large force while keeping the mechanism compact and lightweight with a length of 13 mm and a weight of 0.14 g.
AB - An underactuated mechanism, which has less input than the active degree of freedom, is often used for grippers such as robot hands. The use of this mechanism can contribute to the reduction of actuators, that is, the reduction in size and weight. However, many of the conventional underactuated mechanisms are equipped with ordinary springs at the joints and are driven by a motor and they tend to be bigger and bulkier. Therefore, we have developed a compact underactuated tendon-driven mechanism using a lightweight shape memory alloy (SMA) actuator and a superelastic SMA sheet with an elastic range that cannot be achieved by conventional metal leaf springs. It has a range of motion of over 140 deg and can lift a weight of 60 g by energizing the SMA actuator. Using the shape memory effect and the superelastic effect of SMA, it is possible to exert a large force while keeping the mechanism compact and lightweight with a length of 13 mm and a weight of 0.14 g.
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U2 - 10.1109/AIM52237.2022.9863298
DO - 10.1109/AIM52237.2022.9863298
M3 - Conference contribution
AN - SCOPUS:85137668928
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 144
EP - 149
BT - 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2022
Y2 - 11 July 2022 through 15 July 2022
ER -